You can also navigate to about:debug in the URL bar to activate the debug menu and the JavaScript error console with recent Android devices. You should see SHOW JAVASCRIPT CONSOLE at the top of the Browser.

Currently in Android 4.0.3 (Ice Cream Sandwich), the logcat outputs to the browser channel. So you can filter using adb logcat browser:* *:S.

Original Answer

You can use the built in console JavaScript object to print log messages that you can review with adb logcat.

Versions of WebKit that are not part of a Safari release have a + after the version number, and their version number is generally higher than the latest released version of WebKit. So, for example, 528+ is an unofficial build of WebKit that is newer than the 525.x version that shipped as part of Safari 3.1.2.